Stable-posture multi-degree-of-freedom controllable pod type underwater dragging body

A degree of freedom, pod-type technology, applied to underwater ships, underwater operating equipment, ships, etc., can solve the problems of the deterioration of the towed body's course stability, affecting the detection efficiency, platform oscillation, etc., and achieve multi-degree-of-freedom controllable , flexible manipulation and stable posture

CN110435857AActive Publication Date: 2019-11-12SOUTH CHINA UNIV OF TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-11-12

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Abstract

The invention discloses a stable-posture multi-degree-of-freedom controllable pod type underwater dragging body. The dragging body comprises a main body, a longitudinal inclination control mechanism,a heaving control mechanism and a bow changing control mechanism; the main body comprises a wing type pod, an inclined strut, a stand column, a longitudinal inclination control bin, a heaving controlbin and a cable hole; the wing type pod is of a water sealing cavity structure and is horizontally located at the lower portion of the main body, the longitudinal inclination control bin and the heaving control bin are each of a water sealing cavity structure and are arranged at the upper end of the wing type pod in a spaced mode through two stand columns, a heaving control hydrofoil of the heaving control mechanism is arranged in a gap of a longitudinal inclination control hydrofoil; the right end of the heaving control hydrofoil is in rigid connection with a heaving positioning shaft, and aheaving drive shaft penetrates through a through axle hole formed in the left side of the gap of the longitudinal inclination control hydrofoil and is in rigid connection with a heaving turbine; a heaving worm is meshed with the heaving turbine, and the heaving worm is connected with a heaving servo motor; the dragging body has the advantages that towing resistance is small, multiple degrees of freedom are controllable, the motion control posture is stable, and bin arrangement is reasonable.
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Description

technical field

[0001] The invention relates to an underwater towing body, in particular to a controllable pod type underwater towing body with stable posture and multiple degrees of freedom. Background technique

[0002] The underwater towing body is a kind of underwater sports platform that sails below the water surface. It usually has no power device itself but is towed forward by ships, submarines, helicopters and other aircraft through cables. The underwater towing body is usually equipped with various Physical or chemical detection instruments to perform specific marine environment detection tasks.

[0003] The motion control method of the early underwater towed body was relatively simple, and the water entry depth of the underwater towed body could only be changed by retracting and releasing the towing cable or changing the towing speed. The operation was cumbersome and there was almost no ability to move in the horizontal plane. In recent years, with the advancement...

Examples

Embodiment Construction

[0034] In order to better support the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0035] Such as Figure 1-Figure 6 As shown, a controllable pod-type underwater drag body with stable attitude and multiple degrees of freedom includes a main body 1 , a pitch control mechanism 2 , a heave control mechanism 3 and a bow control mechanism 4 .

[0036] The main body 1 includes an airfoil pod 1-1, a brace 1-5, a column 1-6, a pitch control cabin 1-7, a heave control cabin 1-8, and a cable hole 1-10; the airfoil pod 1 -1 is a watertight cavity structure, which is horizontally located at the lower part of the main body 1. The pitch control cabin 1-7 and the heave control cabin 1-8 are both watertight cavity structures, which are respectively arranged on the airfoil crane through two columns 1-6. The upper end of the cabin 1-1, the pitch con...